uint8 mode_L_hip           # L_hip_motor target mode
uint8 mode_L_hip2           # L_hip2_motor target mode
uint8 mode_L_thigh           # L_thigh_motor target mode
uint8 mode_L_calf           # L_calf_motor target mode
uint8 mode_L_toe           # L_toe_motor target mode
uint8 mode_R_hip           # R_hip_motor target mode
uint8 mode_R_hip2           # R_hip2_motor target mode
uint8 mode_R_thigh           # R_thigh_motor target mode
uint8 mode_R_calf           # R_calf_motor target mode
uint8 mode_R_toe           # R_toe_motor target mode


float32 q_L_hip            # L_hip_motor target position
float32 dq_L_hip           # L_hip_motor target velocity
float32 tau_L_hip          # L_hip_motor target torque
float32 Kp_L_hip           # L_hip_motor spring stiffness coefficient
float32 Kd_L_hip           # L_hip_motor damper coefficient
# uint32[3] reserve_L_hip    # L_hip_motor target torque


float32 q_L_hip2            # L_hip2_motor target position
float32 dq_L_hip2           # L_hip2_motor target velocity
float32 tau_L_hip2          # L_hip2_motor target torque
float32 Kp_L_hip2           # L_hip2_motor spring stiffness coefficient
float32 Kd_L_hip2           # L_hip2_motor damper coefficient
# uint32[3] reserve_L_hip2    # L_hip2_motor target torque

float32 q_L_thigh            # L_thigh_motor target position
float32 dq_L_thigh           # L_thigh_motor target velocity
float32 tau_L_thigh          # L_thigh_motor target torque
float32 Kp_L_thigh           # L_thigh_motor spring stiffness coefficient
float32 Kd_L_thigh           # L_thigh_motor damper coefficient
# uint32[3] reserve_L_thigh    # L_thigh motor target torque

float32 q_L_calf            # L_calf_motor target position
float32 dq_L_calf           # L_calf_motor target velocity
float32 tau_L_calf          # L_calf_motor target torque
float32 Kp_L_calf           # L_calf_motor spring stiffness coefficient
float32 Kd_L_calf           # L_calf_motor damper coefficient
# uint32[3] reserve_L_calf    # L_calf motor target torque


float32 q_L_toe            # L_toe_motor target position
float32 dq_L_toe           # L_toe_motor target velocity
float32 tau_L_toe          # L_toe_motor target torque
float32 Kp_L_toe           # L_toe_motor spring stiffness coefficient
float32 Kd_L_toe           # L_toe_motor damper coefficient
# uint32[3] reserve_L_toe    # L_toe motor target torque


##############################LR分界线#####################################################

float32 q_R_hip            # R_hip_motor target position
float32 dq_R_hip           # R_hip_motor target velocity
float32 tau_R_hip          # R_hip_motor target torque
float32 Kp_R_hip           # R_hip_motor spring stiffness coefficient
float32 Kd_R_hip           # R_hip_motor damper coefficient
# uint32[3] reserve_R_hip    # R_hip_motor target torque


float32 q_R_hip2            # R_hip2_motor target position
float32 dq_R_hip2           # R_hip2_motor target velocity
float32 tau_R_hip2          # R_hip2_motor target torque
float32 Kp_R_hip2           # R_hip2_motor spring stiffness coefficient
float32 Kd_R_hip2           # R_hip2_motor damper coefficient
# uint32[3] reserve_R_hip2    # R_hip2_motor target torque

float32 q_R_thigh            # R_thigh_motor target position
float32 dq_R_thigh           # R_thigh_motor target velocity
float32 tau_R_thigh          # R_thigh_motor target torque
float32 Kp_R_thigh           # R_thigh_motor spring stiffness coefficient
float32 Kd_R_thigh           # R_thigh_motor damper coefficient
# uint32[3] reserve_R_thigh    # R_thigh motor target torque

float32 q_R_calf            # R_calf_motor target position
float32 dq_R_calf           # R_calf_motor target velocity
float32 tau_R_calf          # R_calf_motor target torque
float32 Kp_R_calf           # R_calf_motor spring stiffness coefficient
float32 Kd_R_calf           # R_calf_motor damper coefficient
# uint32[3] reserve_R_calf    # R_calf motor target torque


float32 q_R_toe            # R_toe_motor target position
float32 dq_R_toe           # R_toe_motor target velocity
float32 tau_R_toe          # R_toe_motor target torque
float32 Kp_R_toe           # R_toe_motor spring stiffness coefficient
float32 Kd_R_toe           # R_toe_motor damper coefficient
# uint32[3] reserve_R_toe    # R_toe motor target torque